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WO2018135988A1 - Programme de travail amélioré pour tondeuse à gazon robotisée - Google Patents

Programme de travail amélioré pour tondeuse à gazon robotisée Download PDF

Info

Publication number
WO2018135988A1
WO2018135988A1 PCT/SE2018/050011 SE2018050011W WO2018135988A1 WO 2018135988 A1 WO2018135988 A1 WO 2018135988A1 SE 2018050011 W SE2018050011 W SE 2018050011W WO 2018135988 A1 WO2018135988 A1 WO 2018135988A1
Authority
WO
WIPO (PCT)
Prior art keywords
robotic lawnmower
living object
adapt
operating schedule
robotic
Prior art date
Application number
PCT/SE2018/050011
Other languages
English (en)
Inventor
Mattias Kamfors
Magnus ÖHRLUND
Original Assignee
Husqvarna Ab
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Husqvarna Ab filed Critical Husqvarna Ab
Priority to EP18741402.4A priority Critical patent/EP3571561B1/fr
Priority to EP21215222.7A priority patent/EP3989033B1/fr
Priority to US16/479,434 priority patent/US20190357431A1/en
Publication of WO2018135988A1 publication Critical patent/WO2018135988A1/fr

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/006—Control or measuring arrangements
    • A01D34/008—Control or measuring arrangements for automated or remotely controlled operation
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D75/00—Accessories for harvesters or mowers
    • A01D75/20—Devices for protecting men or animals
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
    • G05D1/0265—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using buried wires
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
    • A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
    • A01D34/63—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis
    • A01D34/64—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis mounted on a vehicle, e.g. a tractor, or drawn by an animal or a vehicle
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
    • A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
    • A01D34/63—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis
    • A01D34/82—Other details
    • A01D34/826—Noise reduction means
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
    • A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
    • A01D34/63—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis
    • A01D34/82—Other details
    • A01D34/828—Safety devices

Definitions

  • Figure 2 shows an example of a robotic lawnmower system (200) according to the teachings herein;
  • the robotic lawnmower 100 also comprises a grass cutting device 160, such as a rotating blade 160 driven by a cutter motor 165.
  • the grass cutting device being an example of a work tool 160 for a robotic lawnmower 100.
  • the cutter motor 165 is connected to the controller 110 which enables the controller 110 to control the operation of the cutter motor 165.
  • the controller may also be configured to determine the load exerted on the rotating blade, by for example measure the power delivered to the cutter motor 165 or by measuring the axle torque exerted by the rotating blade.
  • the robotic lawnmower 100 also has (at least) one battery 1 SO for providing power to the motors 150 and the cutter motor 165.
  • the robotic lawnmower 100 may use the satellite navigation device 190 to remain within and map the work area 205 by comparing the successive determined positions of the robotic lawnmower 100 against a set of geographical coordinates defining the boundary 250, obstacles, keep-out areas etc of the work area 205.
  • This set of boundary defining positions may be stored in the memory 120, and?or included in a digital (virtual) map of the work area 205.
  • the boundary 250 of the work area 205 may also be marked by a boundary cable supplementing the GNSS navigation to ensure that the robotic lawnmower stays within the work area, even when no satellite signals are received.

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Electromagnetism (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Multimedia (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

Un système de tondeuse à gazon robotisée comprend une station de charge, un capteur d'objet vivant et une tondeuse à gazon robotisée configurée pour fonctionner à l'intérieur d'une zone de travail selon un programme de fonctionnement, la tondeuse à gazon robotisée étant configurée pour détecter et identifier un objet en tant qu'objet vivant; et adapter le programme de fonctionnement en conséquence.
PCT/SE2018/050011 2017-01-19 2018-01-09 Programme de travail amélioré pour tondeuse à gazon robotisée WO2018135988A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
EP18741402.4A EP3571561B1 (fr) 2017-01-19 2018-01-09 Programme de travail amélioré pour tondeuse à gazon robotisée
EP21215222.7A EP3989033B1 (fr) 2017-01-19 2018-01-09 Planification de travail améliorée pour une tondeuse à gazon robotisée
US16/479,434 US20190357431A1 (en) 2017-01-19 2018-01-09 Improved work scheduling for a robotic lawnmower

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
SE1750043-0 2017-01-19
SE1750043 2017-01-19

Publications (1)

Publication Number Publication Date
WO2018135988A1 true WO2018135988A1 (fr) 2018-07-26

Family

ID=62908070

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/SE2018/050011 WO2018135988A1 (fr) 2017-01-19 2018-01-09 Programme de travail amélioré pour tondeuse à gazon robotisée

Country Status (3)

Country Link
US (1) US20190357431A1 (fr)
EP (2) EP3989033B1 (fr)
WO (1) WO2018135988A1 (fr)

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2020132038A1 (fr) * 2018-12-21 2020-06-25 Mtd Products Inc Machine d'équipement électrique d'extérieur avec détection de présence
WO2020143972A1 (fr) * 2019-01-08 2020-07-16 Husqvarna Ab Outil robotique et procédés de navigation et de définition d'une zone de travail pour celui-ci
CN111684911A (zh) * 2020-05-11 2020-09-22 深圳拓邦股份有限公司 割草车的控制方法、装置、割草车及存储介质
CN113382905A (zh) * 2019-02-01 2021-09-10 采埃孚股份公司 在安全的工作区域内自主操作车辆
JPWO2020110247A1 (ja) * 2018-11-29 2021-10-14 本田技研工業株式会社 制御システム、制御装置、自律作業機、制御装置の動作方法、自律作業機の制御方法及びプログラム
US11172605B2 (en) 2016-06-30 2021-11-16 Tti (Macao Commercial Offshore) Limited Autonomous lawn mower and a system for navigating thereof
US11172608B2 (en) 2016-06-30 2021-11-16 Tti (Macao Commercial Offshore) Limited Autonomous lawn mower and a system for navigating thereof
WO2022082334A1 (fr) * 2020-10-19 2022-04-28 Globe (jiangsu) Co., Ltd. Navigation d'une tondeuse robotique à l'estime
WO2022153245A1 (fr) * 2021-01-13 2022-07-21 Kinotex Sensor Gmbh Véhicule équipé d'un système de capteur de sécurité et procédé de sécurité
EP4623665A1 (fr) * 2024-02-16 2025-10-01 Husqvarna AB Planification améliorée pour un outil de travail robotique

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US20190196469A1 (en) * 2017-11-02 2019-06-27 AI Incorporated Method for overcoming obstructions of a robotic device
RU2762985C1 (ru) * 2018-05-09 2021-12-24 Сандвик Майнинг Энд Констракшн Ой Управление прохождением зоны на рабочем участке
EP3835907A4 (fr) * 2018-08-08 2022-04-20 Positec Power Tools (Suzhou) Co., Ltd Dispositif mobile autonome, système d'exploitation automatique et son procédé de commande
KR20200075140A (ko) * 2018-12-12 2020-06-26 엘지전자 주식회사 인공지능 이동 로봇 및 이의 제어 방법
EP4057793A1 (fr) * 2019-11-13 2022-09-21 The Toro Company Tondeuse robotique ayant de multiples modes de fonctionnement
US20230141232A1 (en) * 2020-06-08 2023-05-11 Shanghai Sunseeker Robotic Technology Co., Ltd. Autonomous operation device, system, and control method
CA3196819A1 (fr) * 2020-09-24 2022-03-31 Alarm.Com Incorporated Environnement autonettoyant
US12296694B2 (en) 2021-03-10 2025-05-13 Techtronic Cordless Gp Lawnmowers
CN114812652B (zh) 2022-04-20 2024-03-26 松灵机器人(深圳)有限公司 一种割草机控制方法、装置、割草机以及存储介质
AU2023204696A1 (en) 2022-07-19 2024-02-08 Techtronic Cordless Gp Display for controlling robotic tool
AU2023206123A1 (en) 2022-07-29 2024-02-15 Techtronic Cordless Gp Generation of a cryptography key for a robotic garden tool
US20240061423A1 (en) * 2022-08-16 2024-02-22 Kubota Corporation Autonomous operating zone setup for a working vehicle or other working machine
SE547234C2 (en) * 2022-12-05 2025-06-10 Husqvarna Ab Method and device for an improved operation of a robotic work tool operating in an area where humans or animals roam

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Cited By (21)

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Publication number Priority date Publication date Assignee Title
US11172605B2 (en) 2016-06-30 2021-11-16 Tti (Macao Commercial Offshore) Limited Autonomous lawn mower and a system for navigating thereof
US11832552B2 (en) 2016-06-30 2023-12-05 Techtronic Outdoor Products Technology Limited Autonomous lawn mower and a system for navigating thereof
US11172608B2 (en) 2016-06-30 2021-11-16 Tti (Macao Commercial Offshore) Limited Autonomous lawn mower and a system for navigating thereof
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JP7203120B2 (ja) 2018-11-29 2023-01-12 本田技研工業株式会社 制御システム、制御装置、自律作業機、制御装置の動作方法、自律作業機の制御方法及びプログラム
JPWO2020110247A1 (ja) * 2018-11-29 2021-10-14 本田技研工業株式会社 制御システム、制御装置、自律作業機、制御装置の動作方法、自律作業機の制御方法及びプログラム
EP3861846A4 (fr) * 2018-11-29 2021-10-27 Honda Motor Co., Ltd. Système de commande, dispositif de commande, machine de travail autonome, procédé de fonctionnement de dispositif de commande, procédé de commande de machine de travail autonome, et programme
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WO2020132038A1 (fr) * 2018-12-21 2020-06-25 Mtd Products Inc Machine d'équipement électrique d'extérieur avec détection de présence
CN113272753A (zh) * 2019-01-08 2021-08-17 胡斯华纳有限公司 机器人工具、导航和限定机器人工具的工作区域的方法
WO2020143972A1 (fr) * 2019-01-08 2020-07-16 Husqvarna Ab Outil robotique et procédés de navigation et de définition d'une zone de travail pour celui-ci
US12185663B2 (en) 2019-01-08 2025-01-07 Husqvarna Ab Robotic tool, and methods of navigating and defining a work area for the same
CN113382905A (zh) * 2019-02-01 2021-09-10 采埃孚股份公司 在安全的工作区域内自主操作车辆
CN111684911A (zh) * 2020-05-11 2020-09-22 深圳拓邦股份有限公司 割草车的控制方法、装置、割草车及存储介质
CN111684911B (zh) * 2020-05-11 2021-12-28 深圳拓邦股份有限公司 割草车的控制方法、装置、割草车及存储介质
WO2022082334A1 (fr) * 2020-10-19 2022-04-28 Globe (jiangsu) Co., Ltd. Navigation d'une tondeuse robotique à l'estime
WO2022153245A1 (fr) * 2021-01-13 2022-07-21 Kinotex Sensor Gmbh Véhicule équipé d'un système de capteur de sécurité et procédé de sécurité
EP4623665A1 (fr) * 2024-02-16 2025-10-01 Husqvarna AB Planification améliorée pour un outil de travail robotique

Also Published As

Publication number Publication date
US20190357431A1 (en) 2019-11-28
EP3571561A1 (fr) 2019-11-27
EP3571561B1 (fr) 2022-03-02
EP3989033B1 (fr) 2023-05-17
EP3571561A4 (fr) 2020-10-21
EP3989033A1 (fr) 2022-04-27

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